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3D-RGB 포인트 클라우드 데이터 구축 방법
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- Issue Date
- 2013-07
- Citation
- 대한전자공학회 종합 학술 대회 (하계) 2013, pp.1059-1062
- Publisher
- 대한전자공학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- This paper presents the effective way to build the precise 3D point cloud data with the color based on the probability theory by filtering out the false data measured by the RGB-D camera. Recently, many engineering technologies including the intelligent vehicle have been used the RGB-D cameras due to their wealth information such as the position and the color of objects at surroundings. However, the raw data acquired by the RGB-D camera include a lot of false measurements due to the disturbances caused by variation of luminosity, shape of and distance to objet, synchronization and etc. To improve the accuracy of the RGB-D camera, this paper proposes the simple filtering method based on the 3D probabilistic voxel mapping. To verify the effectiveness of the proposed method, we perform the experiment with the intelligent vehicle in indoor environment to build the 3D RGB map using the filtered point cloud data. The experimental results show that it is possible for the RGB-D camera to construct the accurate 3D point cloud data including the color information.
- KSP Keywords
- 3D point cloud data, Color information, False data, Filtering method, Indoor environment, Intelligent Vehicle, RGB map, RGB-D cameras, Raw Data, probability theory